class Kamaq(object):
def __init__(self, argv):
self.sc = None
self.cfg = Config("kamaq.conf")
args = sys.argv[1:]
port = 80
while True:
try:
a = args.pop(0)
except IndexError:
break
if a == "--nogpio":
pass
elif a == "--nosensor":
pass
elif a == "-p":
port = int(args.pop(0))
else:
print("Unknown command-line option:", repr(a))
sys.exit(1)
self.run_webui(port)
def shutdown(self):
print("Shutting down printer...")
self.printer.shutdown()
print("Exiting...")
sys.exit(0)
def run_webui(self, port=80):
signal.signal(signal.SIGINT, self.signal_handler)
self.printer = Printer(self.cfg)
self.webui = WebUi(self.printer, port)
self.printer.add_webui(self.webui)
self.printer.run()
def signal_handler(self, signal, frame):
print('You pressed Ctrl+C!')
if not hasattr(self, "printer"):
return # Ignore....
self.shutdown()
class GRunner(object):
def __init__(self, argv):
self.sc = None
self.cfg = Config("kamaq.conf")
self.dim = self.cfg.settings["num_motors"]
self.audiodev = self.cfg.settings["sound_device"]
cmd = None
vec = [0.0 for x in range(self.dim)]
speed = 3600.0
self.limit = None
self.speed_scale = 1.0
self.temp = None
self.btemp = None
self.pid = {}
self.zero_extruder = False
self.webui = None
while True:
try:
a = argv.pop(0)
except IndexError:
break
if a == "-i":
fname = argv.pop(0)
cmd = a
elif a == "-g":
cmd = a
elif a == "-H":
cmd = a
elif a == "-x":
vec[0] = float(argv.pop(0))
elif a == "-y":
vec[1] = float(argv.pop(0))
elif a == "-z":
vec[2] = float(argv.pop(0))
elif a == "-e":
vec[3] = float(argv.pop(0))
elif a == "-f":
speed = float(argv.pop(0))
elif a == "-h" or a == "--help":
self.print_help()
return
elif a == "-s":
self.speed_scale = float(argv.pop(0))
elif a == "-t":
self.temp = float(argv.pop(0))
elif a == "-b":
self.btemp = float(argv.pop(0))
elif a == "-l":
self.limit = float(argv.pop(0)) / 60.0
elif a == "-w":
#self.webui = WebUi(self.printer)
#self.printer.add_webui(self.webui)
self.run_webui()
elif a == "--no-extrusion":
self.zero_extruder = True
else:
print("Unknown command-line option:", a)
return
signal.signal(signal.SIGINT, self.signal_handler)
self.loop = asyncio.get_event_loop()
if cmd == None:
return
elif cmd == "-i":
print("Executing G-Code file:", fname)
self.run_file(fname)
elif cmd == "-g":
print("Executing single movement to:", repr(vec), "at speed:", speed)
self.move_to(vec, speed)
elif cmd == "-H":
self.homing()
else:
print("Error: Unimplemented command:", cmd)
return
self.loop.run_forever()
def print_help(self):
name = sys.argv[0]
print("%s: G-Code runner" % (name))
print("Syntax:")
print(" %s [-i <filename>|-g|-H] [options]\n" % (name))
print("Commands:")
print(" -i <filename> : Execute all G-codes from file <filename>")
print(" -g : Process one move")
print(" -H : Home position")
print("\nCommon options:")
print(" -t <temp> : Set extruder temperature")
print(" -b <temp> : Set heated bed temperature")
print(" -w : Launch web interface")
print("\nOptions for command -g:")
print(" -x <num> : Move to X-coordinate <num> in millimeters (default 0)")
print(" -y <num> : Y-coordinate")
print(" -z <num> : Z-coordinate")
print(" -e <num> : Extruder movement")
print(" -f <speed> : Feedrate in mm/minute")
print("\nOptions for command -i:")
print(" -s <factor> : Speed scale factor (default 1.0)")
print(" -l <limit> : Set feedrate limit")
print(" --no-extrusion : Do not move extruder")
def end_of_file(self):
print("EOF")
if not self.webui:
self.shutdown()
def shutdown(self):
self.printer.shutdown()
if self.sc is not None:
self.sc.zero_output()
self.sc.zero_output()
self.sc.zero_output()
self.sc.zero_output()
self.sc.close()
sys.exit(0)
def run_webui(self):
signal.signal(signal.SIGINT, self.signal_handler)
self.loop = asyncio.get_event_loop()
sc = StepperCluster(self.audiodev, self.dim, self.cfg)
self.printer = Printer(self.cfg, sc)
self.webui = WebUi(self.printer)
self.printer.add_webui(self.webui)
self.printer.run()
def signal_handler(self, signal, frame):
print('You pressed Ctrl+C!')
self.shutdown()
def preheat(self):
if not self.temp and not self.btemp:
return
pids = []
if self.temp:
pids.append(("ext", self.temp))
if self.btemp:
pids.append(("bed", self.btemp))
for name, sp in pids:
self.printer.launch_pid(name, sp)
while True:
leave = True
for name, sp in pids:
tmp = self.printer.get_temperature(name)
if tmp < (sp - 3.0):
leave = False
print(name+": temp =", tmp, "sp =", sp, end=' ')
print("")
self.loop.run_until_complete(asyncio.sleep(1))
if leave:
break
# Add some delay here to ensure good heat distribution/melting
print("Setpoint reached.")
for i in range(30):
for name, sp in pids:
tmp = self.printer.get_temperature(name)
print(name+": temp =", tmp, "sp =", sp, end=' ')
print("")
self.loop.run_until_complete(asyncio.sleep(1))
def move_to(self, vec, speed):
print("Currently not supported. Use the web interface!")
return
cmd = "G1 "
for v, n in zip(vec, ["X", "Y", "Z", "E"]):
cmd += n + str(v) + " "
cmd += "F" + str(speed) + " "
f = StringIO(cmd + "\n")
self.run_file(f)
def run_file(self, fname):
print("Currently not supported. Use the web interface!")
return
g = GCode(self.cfg, fname)
g.set_zero_extruder(self.zero_extruder)
m = Move(self.cfg, g, self.printer)
self.preheat()
self.sc = StepperCluster(self.audiodev, self.dim, self.cfg, m)
self.sc.set_speed_scale(self.speed_scale)
self.sc.set_max_feedrate(self.limit)
self.scd = StepperClusterDispatcher(self.sc, self)
def homing(self):
f = StringIO("G28\n")
self.run_file(f)
